version: 66.11
glider: 187
mission: 2
dive: 814
start: 4 17 113 13 11 10
data:
$ID,187
$MISSION,2
$DIVE,814
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1040
$D_NO_BLEED,200
$D_BOOST,4
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,470
$T_MISSION,520
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,10
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,140
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51761
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0031000001
$HD_B,0.0093
$HD_C,4.5000001e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,3
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1590010.2
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,155
$PITCH_MAX,3970
$C_PITCH,3195
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,32
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,236
$ROLL_MAX,3800
$ROLL_DEG,40
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2325
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,26
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,470
$VBD_MAX,3960
$C_VBD,2794
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00039999999
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,20
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-61.06522
$PRESSURE_SLOPE,0.0001138132
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,12
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,3
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.69999999
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,83
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043543722
$SEABIRD_T_H,0.00062483409
$SEABIRD_T_I,2.3277114e-05
$SEABIRD_T_J,2.4402393e-06
$SEABIRD_C_G,-9.9786949
$SEABIRD_C_H,1.1107863
$SEABIRD_C_I,-0.0017547003
$SEABIRD_C_J,0.0002234884
$GPS1,170413,130036,4749.176,-12514.692,37,1.0,38,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.13
$_SM_ANGLEo,-74.1
$GPS2,170413,131036,4749.134,-12514.654,12,1.1,18,18.7
$SPEED_LIMITS,0.122,0.210
$TGT_NAME,PARKING
$TGT_LATLONG,4749.600,-12515.250
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.160,-0.151
$KALMAN_X,28840.3,-242.5,2380.9,-124483.9,-7867.0
$KALMAN_Y,16218.2,688.6,-1323.7,-71650.8,4158.7
$MHEAD_RNG_PITCHd_Wd,271.7,1137,-13.3,-7.021,-18.50
$D_GRID,450
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-0.47,-136.3,0.0,0.0,0,86,0.00,0.00,-66.20,0.000,2,0.000,0.000,105,2199,2646,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-0.47,-136.3,3.3,-2.8,12,127,11.82,2.38,-15.27,0.000,4,0.220,0.073,3025,3610,3352,0,0,0,0,0,0,24.51,25.27,26.20
$GC,155,-0.47,-136.3,18.7,-17.9,23,163,0.00,2.22,0.00,0.000,6,0.000,0.043,3025,2192,3354,0,0,0,0,0,0,28.83,25.44,28.83
$GC,470,-0.47,-136.3,66.6,-15.1,84,477,0.00,2.20,0.00,0.000,4,0.000,0.050,3025,793,3355,0,0,0,0,0,0,28.83,25.20,28.83
$GC,551,-0.47,-136.3,77.7,-12.8,99,559,0.00,2.22,0.00,0.000,6,0.000,0.050,3016,2202,3355,0,0,0,0,0,0,28.83,25.20,28.83
$GC,865,-0.47,-136.3,117.7,-11.4,160,872,0.00,2.30,0.00,0.000,4,0.000,0.060,3006,3617,3355,0,0,0,0,0,0,28.83,25.01,28.83
$GC,937,-0.47,-136.3,125.8,-11.1,168,945,0.12,2.22,0.00,0.000,6,0.129,0.042,3042,2192,3356,0,0,0,0,0,0,25.20,25.40,28.83
$GC,1247,-0.47,-136.3,151.5,-8.6,189,1254,0.00,2.17,0.00,0.000,4,0.000,0.050,3042,801,3356,0,0,0,0,0,0,28.83,25.16,28.83
$GC,1317,-0.47,-136.3,158.0,-9.5,196,1324,0.00,2.22,0.00,0.000,6,0.000,0.050,3035,2212,3355,0,0,0,0,0,0,28.83,25.15,28.83
$GC,1625,-0.47,-136.3,186.3,-9.0,217,1634,0.00,2.35,0.00,0.000,4,0.000,0.061,3025,3616,3355,0,0,0,0,0,0,28.83,24.95,28.83
$GC,1685,-0.47,-136.3,192.0,-9.7,223,1695,0.00,2.28,0.00,0.000,6,0.000,0.042,3024,2196,3355,0,0,0,0,0,0,28.83,25.37,28.83
$GC,2011,-0.47,-136.3,224.4,-9.9,241,2016,0.00,2.22,0.00,0.000,4,0.000,0.050,3025,811,3355,0,0,0,0,0,0,28.83,25.12,28.83
$GC,2110,-0.47,-136.3,234.6,-10.3,246,2116,0.00,2.28,0.00,0.000,6,0.000,0.050,3016,2206,3356,0,0,0,0,0,0,28.83,25.12,28.83
$GC,2430,-0.47,-136.3,266.2,-9.5,262,2436,0.00,2.35,0.00,0.000,4,0.000,0.061,3007,3621,3355,0,0,0,0,0,0,28.83,24.91,28.83
$GC,2460,-0.47,-136.3,268.1,-9.4,263,2470,0.12,2.28,0.00,0.000,6,0.129,0.041,3043,2201,3355,0,0,0,0,0,0,25.15,25.34,28.83
$GC,2771,-0.47,-136.3,292.3,-6.9,279,2772,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2201,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3070,-0.47,-136.3,313.0,-7.0,294,3071,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2201,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3371,-0.47,-136.3,334.9,-7.3,309,3373,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2202,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3671,-0.47,-136.3,356.2,-6.5,324,3672,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2201,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3973,-0.47,-136.3,375.5,-6.5,339,3977,0.00,2.33,0.00,0.000,4,0.000,0.063,3035,3607,3354,0,0,0,0,0,0,28.83,24.81,28.83
$GC,4001,-0.47,-136.3,377.5,-6.6,340,4006,0.00,2.28,0.00,0.000,6,0.000,0.044,3035,2203,3354,0,0,0,0,0,0,28.83,25.27,28.83
$GC,4322,-0.47,-136.3,401.2,-7.5,356,4326,0.00,2.22,0.00,0.000,4,0.000,0.051,3035,798,3354,0,0,0,0,0,0,28.83,25.01,28.83
$GC,4389,-0.47,-136.3,405.0,-7.7,358,4398,0.00,2.30,0.00,0.000,6,0.000,0.051,3029,2198,3353,0,0,0,0,0,0,28.83,25.01,28.83
$GC,4700,-0.47,-136.3,431.7,-8.4,369,4706,0.00,2.30,0.00,0.000,4,0.000,0.050,3028,795,3353,0,0,0,0,0,0,28.83,25.00,28.83
$GC,4738,-0.47,-136.3,434.2,-8.5,370,4742,0.00,2.33,0.00,0.000,6,0.000,0.052,3023,2210,3353,0,0,0,0,0,0,28.83,25.01,28.83
$STATE,4928,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4928,begin apogee
$GC,4936,-0.22,0.0,451.0,-8.4,377,5057,0.30,0.00,117.75,0.817,6,0.107,0.000,3125,2345,2794,0,0,0,0,0,0,25.36,28.83,23.44
$STATE,5058,end apogee,CONTROL_FINISHED_OK
$STATE,5058,begin climb
$GC,5061,0.47,136.3,455.7,0.0,381,5190,0.65,0.00,121.22,0.787,6,0.077,0.000,3347,2345,2237,0,0,0,0,0,0,24.75,28.83,23.38
$GC,5491,0.48,161.2,434.8,6.0,396,5520,0.00,2.33,21.35,0.773,4,0.000,0.054,3356,917,2135,0,0,0,0,0,0,28.83,25.30,23.86
$GC,5540,0.49,181.8,432.9,6.2,397,5566,0.00,2.30,19.50,0.755,6,0.000,0.053,3356,2316,2051,0,0,0,0,0,0,28.83,25.35,23.75
$GC,5880,0.49,181.8,407.0,7.2,409,5886,0.00,2.30,0.00,0.000,4,0.000,0.054,3365,919,2045,0,0,0,0,0,0,28.83,25.33,28.83
$GC,5910,0.49,181.8,404.8,7.1,410,5916,0.00,2.33,0.00,0.000,6,0.000,0.054,3365,2334,2045,0,0,0,0,0,0,28.83,25.33,28.83
$GC,6221,0.49,181.8,381.1,7.4,424,6226,0.00,2.30,0.00,0.000,4,0.000,0.054,3374,932,2043,0,0,0,0,0,0,28.83,25.25,28.83
$GC,6248,0.49,181.8,379.6,7.5,425,6252,0.00,2.30,0.00,0.000,6,0.000,0.054,3374,2327,2042,0,0,0,0,0,0,28.83,25.25,28.83
$GC,6551,0.49,181.8,355.5,7.5,440,6552,0.00,0.00,0.00,0.000,6,0.000,0.000,3374,2327,2042,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6852,0.49,181.8,332.8,7.4,455,6856,0.00,2.38,0.00,0.000,4,0.000,0.067,3374,3735,2042,0,0,0,0,0,0,28.83,25.00,28.83
$GC,6910,0.49,181.8,327.8,8.2,458,6917,0.00,2.30,0.00,0.000,6,0.000,0.047,3383,2329,2041,0,0,0,0,0,0,28.83,25.34,28.83
$GC,7232,0.49,181.8,302.3,8.1,474,7236,0.00,2.28,0.00,0.000,4,0.000,0.054,3394,911,2041,0,0,0,0,0,0,28.83,25.11,28.83
$GC,7272,0.49,181.8,299.1,8.1,476,7277,0.10,2.30,0.00,0.000,6,0.106,0.054,3358,2317,2041,0,0,0,0,0,0,24.94,25.11,28.83
$GC,7592,0.49,181.8,275.9,7.2,492,7597,0.00,2.35,0.00,0.000,4,0.000,0.066,3358,3744,2041,0,0,0,0,0,0,28.83,24.93,28.83
$GC,7649,0.49,181.8,271.8,7.7,494,7653,0.00,2.33,0.00,0.000,6,0.000,0.046,3362,2323,2041,0,0,0,0,0,0,28.83,25.31,28.83
$GC,7953,0.49,186.0,249.4,6.9,509,7957,0.00,2.25,0.00,0.000,4,0.000,0.054,3372,920,2041,0,0,0,0,0,0,28.83,25.07,28.83
$GC,7989,0.49,193.2,247.4,6.7,510,8003,0.00,2.33,9.25,0.631,6,0.000,0.054,3372,2330,2006,0,0,0,0,0,0,28.83,25.08,24.05
$GC,8312,0.49,193.2,223.1,7.2,527,8317,0.00,2.35,0.00,0.000,4,0.000,0.066,3372,3736,2003,0,0,0,0,0,0,28.83,25.06,28.83
$GC,8371,0.49,193.2,218.2,7.8,530,8377,0.00,2.30,0.00,0.000,6,0.000,0.047,3381,2328,2003,0,0,0,0,0,0,28.83,25.37,28.83
$GC,8686,0.49,193.2,193.1,8.5,547,8696,0.00,2.30,0.00,0.000,4,0.000,0.054,3391,919,2002,0,0,0,0,0,0,28.83,25.09,28.83
$GC,8717,0.49,193.2,190.7,8.5,550,8726,0.10,2.30,0.00,0.000,6,0.100,0.054,3356,2325,2002,0,0,0,0,0,0,24.94,25.10,28.83
$GC,9028,0.49,193.2,168.3,7.3,571,9036,0.00,2.35,0.00,0.000,4,0.000,0.066,3356,3742,2002,0,0,0,0,0,0,28.83,24.89,28.83
$GC,9066,0.49,193.2,165.0,8.1,575,9076,0.00,2.33,0.00,0.000,6,0.000,0.046,3363,2312,2001,0,0,0,0,0,0,28.83,25.28,28.83
$GC,9378,0.49,193.2,141.2,7.5,596,9385,0.00,2.25,0.00,0.000,4,0.000,0.054,3373,931,2001,0,0,0,0,0,0,28.83,25.03,28.83
$GC,9497,0.50,216.9,133.3,6.1,608,9526,0.00,2.28,21.75,0.625,6,0.000,0.053,3373,2322,1909,0,0,0,0,0,0,28.83,25.04,24.05
$GC,9829,0.52,245.6,115.6,5.9,641,9860,0.00,2.33,25.48,0.617,4,0.000,0.053,3382,920,1791,0,0,0,0,0,0,28.83,25.32,23.99
$GC,9941,0.52,256.9,108.9,6.6,661,9960,0.00,2.22,10.85,0.565,6,0.000,0.052,3382,2327,1746,0,0,0,0,0,0,28.83,25.38,23.99
$GC,10267,0.52,256.9,84.3,7.4,724,10274,0.00,2.22,0.00,0.000,4,0.000,0.052,3390,922,1741,0,0,0,0,0,0,28.83,25.25,28.83
$GC,10283,0.52,266.7,83.2,6.6,726,10302,0.00,2.22,9.38,0.541,6,0.000,0.050,3390,2336,1705,0,0,0,0,0,0,28.83,25.31,24.11
$GC,10611,0.54,312.3,63.7,5.2,789,10659,0.00,2.30,38.62,0.579,4,0.000,0.063,3390,3736,1519,0,0,0,0,0,0,28.83,25.25,24.03
$GC,10891,0.54,312.3,45.9,8.4,842,10898,0.00,2.22,0.00,0.000,6,0.000,0.044,3390,2316,1512,0,0,0,0,0,0,28.83,25.49,28.83
$GC,11205,0.55,331.1,24.9,6.3,903,11230,0.00,2.38,15.95,0.538,4,0.000,0.062,3390,3733,1443,0,0,0,0,0,0,28.83,25.38,24.17
$GC,11461,0.55,331.1,5.0,7.6,952,11468,0.00,2.20,0.00,0.000,6,0.000,0.043,3390,2319,1438,0,0,0,0,0,0,28.83,25.51,28.83
$STATE,11473,end climb,SURFACE_DEPTH_REACHED
$STATE,11473,begin surface coast
$FINISH,1.3,1.001936
$STATE,11530,end surface coast,CONTROL_FINISHED_OK
$STATE,11530,begin surface
$SM_CCo,11611,0.00,0.000,0,0,1435,333.36
$SM_GC,2.44,8.40,0.17,0.00,0.027,0.073,0.000,111,2197,1435,-9.46,1.02,333.36,0,0,0,0,0,0,25.82,25.94,28.83
$IRIDIUM_FIX,4732.49,-12516.60,170413,090921
$TT8_MAMPS,0.027713,0.027713
$HUMID,49.40
$INTERNAL_PRESSURE,9.08899
$TCM_TEMP,19.00
$XPDR_PINGS,2
$24V_AH,23.4,114.273
$10V_AH,9.7,85.095
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,21.625,114.725,411.100,0.000,0.000,26.074,38.756,394.428,0.500,0.000,19.094,2371.549,6983.295,618.840,1879.898,358.529,0.000,1438.088,0.000,1464.662,0.000,0.535,0.000
$DEVICE_MAMPS,219.555,82.620,817.020,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,659.573,611.186,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296880
$DATA_FILE_SIZE,53549,965
$CAP_FILE_SIZE,117511,0
$CFSIZE,260165632,189288448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.107, 61.2,1
$GPS,170413,162559,4749.420,-12515.682,39,1.8,40,18.7